CN109925163B - Hand and foot rehabilitation therapeutic apparatus - Google Patents
Hand and foot rehabilitation therapeutic apparatus Download PDFInfo
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- CN109925163B CN109925163B CN201811622184.XA CN201811622184A CN109925163B CN 109925163 B CN109925163 B CN 109925163B CN 201811622184 A CN201811622184 A CN 201811622184A CN 109925163 B CN109925163 B CN 109925163B
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- 208000006011 Stroke Diseases 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
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- 101000965313 Legionella pneumophila subsp. pneumophila (strain Philadelphia 1 / ATCC 33152 / DSM 7513) Aconitate hydratase A Proteins 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
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Abstract
The invention relates to the technical field of machinery, in particular to a hand and foot rehabilitation therapeutic apparatus, which comprises a wrist sleeve and a palm sleeve arranged at one end of the wrist sleeve, wherein a plurality of finger sleeves are arranged at the other end of the palm sleeve, and the hand and foot rehabilitation therapeutic apparatus moves the finger joints of a patient through the eccentric wheel of a miniature motor contacting the finger joints of fingers, thereby promoting the rehabilitation of the tail ends of limbs, reducing the disability and relieving the burden of families and society. The finger rest massage mode is like to reversely playing a piano, the finger rest corresponding to the note can be ejected out to facilitate the finger massage treatment of a patient, the number of times of grip force can be counted through the AH173 Hall sensor, the treatment condition can be fed back in time, and the wireless control device is arranged to enable the patient to continue to operate the product under the condition that speech ambiguity occurs, so that rehabilitation treatment is completed.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a hand and foot rehabilitation therapeutic apparatus.
Background
The nerve shock period, that is, when the muscle tension is low, is generally within three weeks to four weeks after stroke, the patient needs to be assisted in passive exercise, after the nerve shock period is passed, the muscle tension is increased, the grip strength is exercised, the nerve electrical stimulation therapy which is commonly used clinically possibly causes fear of the patient, aggravates poststroke depression, can not be used in home for treatment, misses the golden time of half-year recovery after the stroke, and the existing rehabilitation instrument cannot exercise the tail end of the limb enough to influence the recovery quality. In view of this, we propose a hand and foot rehabilitation therapeutic apparatus.
Disclosure of Invention
The invention aims to provide a hand and foot rehabilitation therapeutic apparatus, which solves the problems that the nerve electrical stimulation therapy proposed in the background art can only be used in hospitals, is easy to aggravate poststroke depression, is insufficient in exercise of the tail ends of limbs, and cannot be used for self-care in life such as eating, dressing and the like.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides a hand and foot rehabilitation therapeutic instrument, is in including wrist cover and setting the palm cover of wrist cover one end, a plurality of dactylotheca are installed to the other end of palm cover, the top of palm cover is provided with the fixed band, the bandage is all installed at the both ends of fixed band, the control panel is installed to the bottom of dactylotheca, the inner wall both ends of control panel are provided with the adhesion area respectively, a plurality of micro motors are installed to the inner wall bottom of control panel, the both ends of micro motor are installed through the installation foot on the control panel inner wall, the outer wall of control panel is provided with the speaker.
Preferably, the control panel is in clamping fit with the fingerstall.
Preferably, the control board is embedded with SPY0030A chip, SPCE061A chip and SPR4096 chip.
Preferably, the dactylotheca includes first dactylotheca, overlaps and establishes first dactylotheca is in first dactylotheca inside second dactylotheca and cover are established second dactylotheca is inside third dactylotheca, the one end that third dactylotheca was provided with the ball cover, first spout has been seted up to the inner wall of first dactylotheca, the second spout has been seted up to the inner wall of second dactylotheca, first slide bar is installed to the outer wall of second dactylotheca, the second slide bar is installed to the outer wall of third dactylotheca, magnet is installed to the bottom of wrist cover.
Preferably, an AH173 Hall sensor, a voice chip and an AT89C51 singlechip are also embedded on one side of the wrist sleeve, which is close to the magnet.
Preferably, the first sliding rod is in sliding fit with the first sliding groove.
Preferably, the second sliding rod is in sliding fit with the second sliding groove.
Compared with the prior art, the invention has the beneficial effects that:
1. The hand and foot rehabilitation therapeutic apparatus contacts with the joints of the fingers through the eccentric wheel of the micro motor to move upwards, leftwards and rightwards to the joints of the fingers of the patient, so that the recovery of the terminal function is promoted, and the fingers such as a reverse piano move in accordance with the beat of music, thereby relieving the emotion of the patient.
2. The hand and foot rehabilitation therapeutic apparatus adopts voice control to realize intelligent operation and improve the working efficiency.
3. The hand and foot rehabilitation therapeutic apparatus is convenient for practicing the grip strength of a patient and realizing individuation therapy by holding the fingerstall with force to drive the palm sleeve to bend when the muscle tension starts to recover after the shock period from two to four weeks after the apoplexy.
4. The hand and foot rehabilitation therapeutic instrument can count the times of grip through the AH173 Hall sensor, and is convenient for timely feeding back the therapeutic condition.
5. According to the hand-foot rehabilitation therapeutic apparatus, the wireless control device is arranged, so that the operation of the product can be continued under the condition that the speech of a patient is ambiguous, and the rehabilitation therapy is completed.
Drawings
FIG. 1 is a schematic diagram of the overall frontal structure of the present invention;
FIG. 2 is a schematic diagram of the control panel structure of the present invention;
FIG. 3 is an exploded view of the finger cuff structure of the present invention;
FIG. 4 is a schematic view of the back structure of the wrist strap of the present invention.
FIG. 5 is a schematic view of the structure of the palm cover of the present invention during a grip exercise;
FIG. 6 is a circuit diagram of an SPY0030A chip of the present invention;
FIG. 7 is a circuit diagram of an SPCE061A chip of the present invention;
FIG. 8 is a circuit diagram of an SPR4096 chip of the present invention.
Fig. 9 is a circuit diagram of connection between an AH173 hall sensor and an AT89C51 single-chip microcomputer according to the present invention;
FIG. 10 is a circuit diagram of the connection of the voice chip and the AT89C51 singlechip according to the invention;
FIG. 11 is a circuit diagram of a wireless remote control chip of the present invention;
Fig. 12 is a circuit diagram of a wireless receiving chip according to the present invention;
fig. 13 is a diagram showing a finger cuff structure in example 4 of the present invention.
In the figure: 1. a wrist sleeve; 11. a magnet; 12. AH173 hall sensor; 13. a voice chip; 14. AT89C51 singlechip; 2. a palm sleeve; 21. a fixing belt; 22. a strap; 23. AH173 hall sensor; a voice chip; 3. a finger stall; 31. a first finger rest; 32. a second finger rest; 33. a third finger rest; 34. a ball sleeve; 35. a first chute; 36. a second chute; 37. a first slide bar; 38. a second slide bar; 39. a control board; 391. an adhesive tape; 392. a micro motor; 393. a mounting foot; 394. a speaker; 395. SPY0030A chips; 396. SPCE061A chip; 397. SPR4096 chip; 310. a thorn face magic tape; 311. a rough surface magic tape; 4. a wireless remote control chip; 5. and a wireless receiving chip.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Example 1
The hand and foot rehabilitation therapeutic apparatus, as shown in fig. 1 and 2, including wrist cover 1 and set up palm cover 2 in wrist cover 1 one end, a plurality of dactylotheca 3 are installed to the other end of palm cover 2, the top of palm cover 2 is provided with fixed band 21, bandage 22 is all installed at the both ends of fixed band 21, control panel 39 is installed to the bottom of dactylotheca 3, the inner wall both ends of control panel 39 are provided with respectively and adhere to area 391, a plurality of micro motors 392 are installed to the inner wall bottom of control panel 39, install on control panel 39 inner wall through mounting foot 393 at the both ends of micro motor 392, the outer wall of control panel 39 is provided with speaker 394, control panel 39 and dactylotheca 3 joint cooperation, the inside of control panel 39 still inlays and is equipped with SPY0030A chip 395, SPCE061A chip 396 and SPR4096 chip 397.
In this embodiment, the wrist sleeve 1 and the palm sleeve 2 are integrally formed, so that the wrist sleeve 1 and the palm sleeve 2 are tightly connected and are not easy to break.
Further, the wrist sleeve 1 and the palm sleeve 2 are made of rubber materials, and the materials have certain toughness, are convenient to fit with the palm and can be bent.
In particular, the brush direct current motor with model jk-050sk manufactured by Shenzhen electric motor limited company in Shenzhen market, and its matching circuit can be provided by the manufacturer, besides, the invention relates to the circuit and electronic components and modules which are all in the prior art, and the invention can be completely realized by those skilled in the art, needless to say, the protection content of the invention does not relate to the improvement of software and method.
In addition, the model SPY0030A amplifier manufactured by Shenzhen electronic limited company of SPY0030A chip 395 is also provided by the manufacturer, besides, the invention relates to circuits, electronic components and modules which are all in the prior art, and the invention can be completely realized by those skilled in the art, and needless to say, the protection content of the invention does not relate to the improvement of software and methods.
Besides, the SPCE061A chip 396 Shenzhen Uda technology limited produces a signal of SPCE061A chip, and the supporting circuit can also be provided by the manufacturer.
It should be noted that, the SPR4096 chip 397 is a chip manufactured by Ai Run hong kong electronics limited and having a model number of SPR4096A, and the supporting circuit thereof may also be provided by the manufacturer.
When the hand and foot rehabilitation therapeutic apparatus in this embodiment is used for treatment, the palm of a patient is sleeved in from the wrist sleeve 1, the palm of the patient is sleeved in the palm sleeve 2, so that the finger enters the finger sleeve 3, at the moment, the control board 39 is clamped at the bottom of the finger sleeve 3, the eccentric wheel of the micro motor 392 is contacted with the knuckle of the finger, the micro motor 392 adopts voice control, a voice output circuit is shown in fig. 6, wherein VDDH is reference voltage, VSS is the analog ground of the system, an audio signal is output by a DAC pin of the SPCE061A chip 396 to a J4 end of the circuit, the audio signal is sent to an integrated audio power amplifier SPY0030A chip through a regulating end of a volume potentiometer R9, after audio amplification, the audio signal is output from the SPY0030A chip 395 and is externally connected with a loudspeaker 394 through a J2 port, the playing sound can be achieved through the built-in DAC with 2 paths of 10-bit precision, for example, the playing of voice can be achieved quickly, the voice can be very good and the like, and the J5 in fig. 6 is an output interface of the voice is an integrated pin through the plug pin 061;
The voice input circuit is shown in fig. 7, in which VMC provides power for microphone, AVSS1 is analog ground of system, VCM is reference voltage, 1 and 2 are input pins of positive and negative poles of microphone X1, respectively, connected to MICP and NICN pins of SPCE061A chip 396, when speaking into microphone, 1 and 2 will generate variable waveforms with sound inputted by microphone, and form two-way inverted waveforms at two ports of SPCE061A chip 396, and send to operational amplifier inside SPCE061A chip 396 controller to make audio amplification, and the amplified audio signal is converted into digital quantity by ADC converter and stored in corresponding register, the a/D converter of the SPCE061A chip 396 has 8 channels, 1 of which is MIC-NI input, and is specifically used for sampling voice signals, the voice signals are converted into electrical signals through MCI, and then are input into a preamplifier in the SPCE061A chip 396, when people speak, the energy of the voice signals will have great difference due to different distances between the microphone and the mouth, at this time, if the input signals of the chip are too large or too small, the recognition accuracy will be affected, and the AGC circuit in the SPCE061A chip 396 can track and monitor the audio signal level output by the preamplifier at any time, and when the input signals are increased, the AGC circuit automatically reduces the gain of the amplifier; when the input signal is reduced, the AGC circuit automatically increases the gain of the amplifier to compensate for either too small or too large signals, so as to maintain the signal into the user A/D at an optimum level, while minimizing clipping;
Because there is only 32k word FLASH space in the SPCE061A chip 396, after some space is used as program storage, the rest is far from enough to store voice data, so the system expands FLASH, the connection mode between the SPR4096 chip 397 and the SPCE061A chip 396 is as shown in fig. 8, SCK is connected with IOB0 of the SPCE061A chip 396, SDA is connected with IOB1 of the SPCE061A chip 396, the SPR4096 chip 397 works in serial interface mode, CF2 to CF0 are connected with high level, FLASH is selected when CF7 is low level, and SRAM is selected when high level. The SPR4096 chip 397 is a high-performance 4M-bitFLASH, which is divided into 256 sectors, and each sector 2KByte SPR4096 chip 397 is also internally provided with 4K & tips; when the 8-bit SRAM is used for programming/erasing FLASH, the SRAM can be read/written concurrently, a bus memory interface and a serial interface are built in an SPR4096 chip 397, the single chip microcomputer is allowed to access the FLASH/SRAM storage area through an 8-bit parallel mode or a 1-bit serial mode, the working frequency of the SPR4096 serial interface can reach 5MHz, the SPR4096 chip 397 is provided with two power input ends VDDI and VDDQ, and the VDDI supplies power for internal FLASH and control logic; VDDQ is specially used for supplying power to I/O, so that the voice control micro motor 392 can work and move the finger joints of the patient, the fear of the patient caused by nerve electric stimulation therapy can be avoided, and the treatment effect is improved.
Example 2
As a second embodiment of the present invention, in order to facilitate the grip exercise on the palm of the patient, the present inventor improves the structure of the finger stall 3, as a preferred embodiment, as shown in fig. 3-5, the finger stall 3 includes a first finger stall 31, a second finger stall 32 sleeved inside the first finger stall 31, and a third finger stall 33 sleeved inside the second finger stall 32, one end of the third finger stall 33 is provided with a ball stall 34, the inner wall of the first finger stall 31 is provided with a first sliding groove 35, the inner wall of the second finger stall 32 is provided with a second sliding groove 36, the outer wall of the second finger stall 32 is provided with a first sliding bar 37, the outer wall of the third finger stall 33 is provided with a second sliding bar 38, the bottom of the wrist stall 1 is provided with a magnet 11, one side of the wrist stall 1 near the magnet 11 is further embedded with an AH173 hall sensor 12, a voice chip 13 and an AT89C51 singlechip 14, the first sliding bar 37 is in sliding fit with the second sliding bar 38 and the second sliding groove 36.
In this embodiment, the AH173 hall sensor 12 is a hall sensor manufactured by the company of kojia instruments, in the state of stock, and the model number AHl is a series of hall sensors, and the supporting circuit thereof can also be provided by the manufacturer.
Furthermore, the speech chip 13 is a speech chip 13 with model ISD1420 manufactured by shenzhen electric power all electronics limited company, and its supporting circuits can be provided by the manufacturer, besides, the invention relates to circuits, electronic components and modules which are all the prior art, and can be completely implemented by those skilled in the art, needless to say, the invention also does not relate to the improvement of software and method.
Specifically, the AT89C51 singlechip 14 is the AT89C51 singlechip 14 manufactured by shenzhen micro-tech limited company, and the matching circuit can be provided by the manufacturer, besides, the invention relates to the circuit, the electronic components and the modules in the prior art, and the invention can be completely realized by those skilled in the art, and needless to say, the protection content of the invention does not relate to the improvement of software and a method.
When the hand and foot rehabilitation therapeutic apparatus of this embodiment exercises the grip, the third finger rest 33 is retracted into the second finger rest 32, and the second spring 32 with the third finger rest 33 is retracted into the first finger rest 31, AT this time, the patient sleeves the palm from the wrist sleeve 1, sleeves the palm in the palm sleeve 2, so that the finger passes through the finger sleeve 3 and buckles the finger sleeve 3, the finger sleeve 3 is held by force to drive the palm sleeve 2 to bend, the magnet 11 displaces, and approaches the AH173 hall sensor 12 to approach the magnet, AT this time, the AH173 hall sensor 12 outputs a high level, when the magnet is far away from the AH173 hall sensor 12, the ah173 hall sensor 12 outputs a low level, and through the timer in the AT89C51 singlechip 14, a period of pulse is calculated, the number of rotation turns can be calculated, and fed back to the voice chip 13, count the number of times of grip is counted, and corresponding voice is emitted, the patient can be counted, and simultaneously, sound emitted, such as oiling is fast, the grip quality of the patient can be improved, and the grip quality of the patient can be exercised, and the grip quality of the patient can be improved, and the limb is facilitated.
Example 3
As a third embodiment of the present invention, in the specific implementation, since the patient may have a speech ambiguity during the rehabilitation, a wireless control device is provided in this embodiment, and the wireless control device includes a wireless receiving chip 5 installed inside the micro motor 392 and a wireless remote control chip 4 installed inside the remote controller.
In this embodiment, as shown in fig. 11, the wireless remote control chip 4 includes an encoded oscillator with f=1khz formed by LC219, R1, C1-C3 in the transmitting circuit, and a carrier frequency oscillator formed by VT1, L1, C4, C5, where C4 determines the frequency of the radio frequency signal, L2 is a high-frequency choke coil used for communicating with the working power supply of the carrier frequency oscillator, the encoded pulse output by the 13 th pin is input to the base of VT1 through a resistor R2, and when the pulse is at a high level, the VT1 turns on the circuit to vibrate; when the pulse is at a low level, VT1 is cut off, the modulated high-frequency carrier coded pulse is emitted out through an oscillating coil L1, the effective emission distance of the circuit is more than or equal to 40m, the circuit self-consumption is very small and is close to the natural discharge consumption of a battery, in a receiving circuit, VT1 and the like form a self-extinguishing super-regenerative detection circuit, the extinguishing frequency is determined by L2, L3, C3 and the like, L1 and C1 form a receiving tuning circuit, a receiving frequency can be changed by adjusting a capacitor C1, VT2 and the like form an audio amplifying circuit, C6 is a high-frequency bypass capacitor, VD1, VD2 and VT3 form a rectifying trigger circuit, the offset of VT3 is formed by utilizing a noise signal rectifying trigger circuit, LC220A forms a six-path decoding switch driving circuit, and MOD is connected in a self-locking mode.
In this embodiment, as shown in fig. 12, the wireless receiving chip 5 forms a positive and reverse circuit of the micro motor 392, when the S1 in the transmitting circuit is pressed, the super-regenerative detection circuit will generate a specific noise signal after receiving the encoded radio frequency signal, after being amplified by VT2 audio frequency, the super-regenerative detection circuit is rectified again, and its dc component is used to control the trigger tube vt3. When the noise signal is strong, VT3 is conducted, the current collecting route is changed from high potential to low potential, sent to the 1 st leg of the LC220A, and after internal decoding, the 6 th leg outputs high potential, thereby driving VT7 to VT9 to conduct, the micro motor 392 rotates forward and massages forward, and when the S1 is pressed again, the micro motor 392 rotates reversely, and massages backward, and the recovery treatment can be completed by continuing to operate the product under the condition that the speech ambiguity occurs to the patient through the set wireless control device.
Example 4
As a fourth embodiment of the present invention, as shown in fig. 13, in order to facilitate wearing of a patient with finger edema, the present inventor improves the first collar finger rest 31, the second collar finger rest 32 and the third collar finger rest 33, one side of the first collar finger rest 31, the second collar finger rest 32 and the third collar finger rest 33 is provided with a thorn-faced magic tape 310, and the other side of the first collar finger rest 31, the second collar finger rest 32 and the third collar finger rest 33 is provided with a hair-faced magic tape 311, so that the finger of the patient can be conveniently put into the first collar finger rest 31, the second collar finger rest 32 and the third collar finger rest 33, and the finger can be fixed by adjusting the positions where the thorn-faced magic tape 310 and the hair-faced magic tape 311 are adhered to each other, so that the patient can wear the finger conveniently.
Example 5
As a fifth embodiment of the invention, in order to improve the exercise effect of the fingers of the patient, the inventor improves the massage mode of the fingerstall 3, as a preferred embodiment, the fingerstall 3 is pushed out like a piano to the opposite direction, for example, 1,2, 3, 4 and 5 correspond to the thumb, the index finger, the middle finger, the ring finger and the little finger to be tilted in turn, and the music which is relatively gentle can be selected, so that the massage treatment of the fingers of the patient is facilitated, the fingers can also move left and right, a piece of music is moved left and right after the upward movement, the music is very slight, and the phenomenon of half dislocation caused by too strong action of the small joints of the patient is avoided.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a hand and foot rehabilitation therapeutic instrument, includes wrist cover (1) and sets up palm cover (2) of wrist cover (1) one end, its characterized in that: the palm cover is characterized in that a plurality of finger sleeves (3) are arranged at the other end of the palm cover (2), a fixing belt (21) is arranged at the top of the palm cover (2), binding belts (22) are arranged at two ends of the fixing belt (21), each finger sleeve (3) comprises a first finger support (31), a second finger support (32) sleeved in the first finger support (31) and a third finger support (33) sleeved in the second finger support (32), a ball cover (34) is arranged at one end of each third finger support (33), a first sliding groove (35) is formed in the inner wall of each first finger support (31), a second sliding groove (36) is formed in the inner wall of each second finger support (32), a first sliding rod (37) is arranged on the outer wall of each second finger support (32), a second sliding rod (38) is arranged on the outer wall of each third finger support (33), and a magnet (11) is arranged at the bottom of each sleeve (1); the first sliding rod (37) is in sliding fit with the first sliding groove (35); the second sliding rod (38) is in sliding fit with the second sliding groove (36); a control board (39) is arranged at the bottom of the fingerstall (3), and the control board (39) is in clamping fit with the fingerstall (3); the two ends of the inner wall of the control board (39) are respectively provided with an adhesive tape (391), a plurality of micro motors (392) are arranged at the bottom end of the inner wall of the control board (39), the two ends of each micro motor (392) are arranged on the inner wall of the control board (39) through mounting pins (393), and a loudspeaker (394) is arranged on the outer wall of the control board (39); so that the eccentric wheel of the micro motor 392 contacts the knuckle of the finger to move the knuckle of the patient upward, leftward and rightward.
2. The hand and foot rehabilitation apparatus according to claim 1, wherein: the control board (39) is further embedded with an SPY0030A chip (395), an SPCE061A chip (396) and an SPR4096 chip (397).
3. The hand and foot rehabilitation apparatus according to claim 1, wherein: one side of the wrist sleeve (1) close to the magnet (11) is also embedded with an AH173 Hall sensor (12), a voice chip (13) and an AT89C51 singlechip (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811622184.XA CN109925163B (en) | 2018-12-28 | 2018-12-28 | Hand and foot rehabilitation therapeutic apparatus |
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| CN201811622184.XA CN109925163B (en) | 2018-12-28 | 2018-12-28 | Hand and foot rehabilitation therapeutic apparatus |
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| CN110269780B (en) * | 2019-07-18 | 2021-04-06 | 河南师范大学新联学院 | Finger joint rehabilitation training mechanism |
| CN110584993A (en) * | 2019-09-24 | 2019-12-20 | 南通大学附属医院 | Device is tempered with rehabilitation nursing to hand surgery |
| CN110812121B (en) * | 2019-12-02 | 2021-12-28 | 张继红 | Department of neurology is hand exercise device for nursing |
| CN111249109B (en) * | 2020-02-13 | 2022-04-12 | 首都医科大学附属北京潞河医院 | Hand rehabilitation training device |
| CN117046051B (en) * | 2023-10-12 | 2023-12-29 | 三六三医院 | Adaptive grip strength recovery instrument |
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| CN210158886U (en) * | 2018-12-28 | 2020-03-20 | 昆山市第一人民医院 | Hand and foot rehabilitation therapeutic apparatus |
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| FR358024A (en) * | 1905-09-25 | 1906-01-24 | Fenelon Pelissier | Exercise device for untying fingers |
| US20100042023A1 (en) * | 2008-08-11 | 2010-02-18 | Simon Fraser University | Continuous passive and active motion device and method for hand rehabilitation |
| JP6121946B2 (en) * | 2014-05-30 | 2017-04-26 | 芳彦 佐野 | Expression reproduction system, board device thereof, expression reproduction method |
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| CN207708155U (en) * | 2017-06-16 | 2018-08-10 | 刘莹 | A kind of rehabilitation gloves |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210158886U (en) * | 2018-12-28 | 2020-03-20 | 昆山市第一人民医院 | Hand and foot rehabilitation therapeutic apparatus |
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| Publication number | Publication date |
|---|---|
| CN109925163A (en) | 2019-06-25 |
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